1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

 *****************************************************************************/

    33

    34

/**

    35

   \file

    36

   EtherCAT slave methods.

    37

*/

    38

    39

/*****************************************************************************/

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

    46

#include "datagram.h"

    47

#include "master.h"

    48

    49

/*****************************************************************************/

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

/*****************************************************************************/

    54

    55

void ec_slave_clear(struct kobject *);

    56

void ec_slave_sdos_clear(struct kobject *);

    57

ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

    58

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    59

                                 const char *, size_t);

    60

    61

/*****************************************************************************/

    62

    63

/** \cond */

    64

    65

EC_SYSFS_READ_ATTR(info);

    66

EC_SYSFS_READ_WRITE_ATTR(state);

    67

EC_SYSFS_READ_WRITE_ATTR(eeprom);

    68

    69

static struct attribute *def_attrs[] = {

    70

    &attr_info,

    71

    &attr_state,

    72

    &attr_eeprom,

    73

    NULL,

    74

};

    75

    76

static struct sysfs_ops sysfs_ops = {

    77

    .show = ec_show_slave_attribute,

    78

    .store = ec_store_slave_attribute

    79

};

    80

    81

static struct kobj_type ktype_ec_slave = {

    82

    .release = ec_slave_clear,

    83

    .sysfs_ops = &sysfs_ops,

    84

    .default_attrs = def_attrs

    85

};

    86

    87

static struct kobj_type ktype_ec_slave_sdos = {

    88

    .release = ec_slave_sdos_clear

    89

};

    90

    91

/** \endcond */

    92

    93

/*****************************************************************************/

    94

    95

/**

    96

   Slave constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

   101

                  ec_master_t *master, /**< EtherCAT master */

   102

                  uint16_t ring_position, /**< ring position */

   103

                  uint16_t station_address /**< station address to configure */

   104

                  )

   105

{

   106

    unsigned int i;

   107

   108

    slave->ring_position = ring_position;

   109

    slave->station_address = station_address;

   110

   111

    slave->master = master;

   112

   113

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   114

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   116

    slave->error_flag = 0;

   117

    slave->online = 1;

   118

    slave->fmmu_count = 0;

   119

   120

    slave->coupler_index = 0;

   121

    slave->coupler_subindex = 0xFFFF;

   122

   123

    slave->base_type = 0;

   124

    slave->base_revision = 0;

   125

    slave->base_build = 0;

   126

    slave->base_fmmu_count = 0;

   127

    slave->base_sync_count = 0;

   128

   129

    slave->eeprom_data = NULL;

   130

    slave->eeprom_size = 0;

   131

    slave->new_eeprom_data = NULL;

   132

    slave->new_eeprom_size = 0;

   133

   134

    slave->sii_alias = 0;

   135

    slave->sii_vendor_id = 0;

   136

    slave->sii_product_code = 0;

   137

    slave->sii_revision_number = 0;

   138

    slave->sii_serial_number = 0;

   139

    slave->sii_rx_mailbox_offset = 0;

   140

    slave->sii_rx_mailbox_size = 0;

   141

    slave->sii_tx_mailbox_offset = 0;

   142

    slave->sii_tx_mailbox_size = 0;

   143

    slave->sii_mailbox_protocols = 0;

   144

    slave->sii_group = NULL;

   145

    slave->sii_image = NULL;

   146

    slave->sii_order = NULL;

   147

    slave->sii_name = NULL;

   149

   150

    INIT_LIST_HEAD(&slave->sii_strings);

   151

    INIT_LIST_HEAD(&slave->sii_syncs);

   152

    INIT_LIST_HEAD(&slave->sii_pdos);

   153

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   154

    INIT_LIST_HEAD(&slave->sdo_confs);

   155

   156

    slave->sdo_dictionary_fetched = 0;

   157

    slave->jiffies_preop = 0;

   158

   159

    for (i = 0; i < 4; i++) {

   160

        slave->dl_link[i] = 0;

   161

        slave->dl_loop[i] = 0;

   162

        slave->dl_signal[i] = 0;

   163

        slave->sii_physical_layer[i] = 0xFF;

   164

    }

   165

   166

    // init kobject and add it to the hierarchy

   167

    memset(&slave->kobj, 0x00, sizeof(struct kobject));

   168

    kobject_init(&slave->kobj);

   169

    slave->kobj.ktype = &ktype_ec_slave;

   170

    slave->kobj.parent = &master->kobj;

   171

    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

   172

        EC_ERR("Failed to set kobject name.\n");

   173

        goto out_slave_put;

   174

    }

   175

    if (kobject_add(&slave->kobj)) {

   176

        EC_ERR("Failed to add slave's kobject.\n");

   177

        goto out_slave_put;

   178

    }

   179

   180

    // init SDO kobject and add it to the hierarchy

   181

    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));

   182

    kobject_init(&slave->sdo_kobj);

   183

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   184

    slave->sdo_kobj.parent = &slave->kobj;

   185

    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

   186

        EC_ERR("Failed to set kobject name.\n");

   187

        goto out_sdo_put;

   188

    }

   189

    if (kobject_add(&slave->sdo_kobj)) {

   190

        EC_ERR("Failed to add SDOs kobject.\n");

   191

        goto out_sdo_put;

   192

    }

   193

   194

    return 0;

   195

   196

 out_sdo_put:

   197

    kobject_put(&slave->sdo_kobj);

   198

    kobject_del(&slave->kobj);

   199

 out_slave_put:

   200

    kobject_put(&slave->kobj);

   201

    return -1;

   202

}

   203

   204

/*****************************************************************************/

   205

   206

/**

   207

   Slave destructor.

   208

   Clears and frees a slave object.

   209

*/

   210

   211

void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)

   212

{

   213

    ec_sdo_t *sdo, *next_sdo;

   214

   215

    // free all SDOs

   216

    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {

   217

        list_del(&sdo->list);

   218

        ec_sdo_destroy(sdo);

   219

    }

   220

   221

    // free SDO kobject

   222

    kobject_del(&slave->sdo_kobj);

   223

    kobject_put(&slave->sdo_kobj);

   224

   225

    // destroy self

   226

    kobject_del(&slave->kobj);

   227

    kobject_put(&slave->kobj);

   228

}

   229

   230

/*****************************************************************************/

   231

   232

/**

   233

   Clear and free slave.

   234

   This method is called by the kobject,

   235

   once there are no more references to it.

   236

*/

   237

   238

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

   239

{

   240

    ec_slave_t *slave;

   241

    ec_sii_string_t *string, *next_str;

   242

    ec_sii_sync_t *sync, *next_sync;

   243

    ec_sii_pdo_t *pdo, *next_pdo;

   244

    ec_sii_pdo_entry_t *entry, *next_ent;

   245

    ec_sdo_data_t *sdodata, *next_sdodata;

   246

   247

    slave = container_of(kobj, ec_slave_t, kobj);

   248

   249

    // free all string objects

   250

    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {

   251

        list_del(&string->list);

   252

        kfree(string);

   253

    }

   254

   255

    // free all sync managers

   256

    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {

   257

        list_del(&sync->list);

   258

        kfree(sync);

   259

    }

   260

   261

    // free all PDOs

   262

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {

   263

        list_del(&pdo->list);

   264

        if (pdo->name) kfree(pdo->name);

   265

   266

        // free all PDO entries

   267

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   268

            list_del(&entry->list);

   269

            if (entry->name) kfree(entry->name);

   270

            kfree(entry);

   271

        }

   272

   273

        kfree(pdo);

   274

    }

   275

   276

    if (slave->sii_group) kfree(slave->sii_group);

   277

    if (slave->sii_image) kfree(slave->sii_image);

   278

    if (slave->sii_order) kfree(slave->sii_order);

   279

    if (slave->sii_name) kfree(slave->sii_name);

   280

   281

    // free all SDO configurations

   282

    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   283

        list_del(&sdodata->list);

   284

        kfree(sdodata->data);

   285

        kfree(sdodata);

   286

    }

   287

   288

    if (slave->eeprom_data) kfree(slave->eeprom_data);

   289

    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);

   290

   291

    kfree(slave);

   292

}

   293

   294

/*****************************************************************************/

   295

   296

/**

   297

*/

   298

   299

void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)

   300

{

   301

}

   302

   303

/*****************************************************************************/

   304

   305

/**

   306

   Reset slave from operation mode.

   307

*/

   308

   309

void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)

   310

{

   311

    ec_sdo_data_t *sdodata, *next_sdodata;

   312

    ec_sii_sync_t *sync;

   313

   314

    // remove FMMU configurations

   315

    slave->fmmu_count = 0;

   316

   317

    // free all SDO configurations

   318

    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   319

        list_del(&sdodata->list);

   320

        kfree(sdodata->data);

   321

        kfree(sdodata);

   322

    }

   323

   324

    // remove estimated sync manager sizes

   325

    list_for_each_entry(sync, &slave->sii_syncs, list) {

   326

        sync->est_length = 0;

   327

    }

   328

}

   329

   330

/*****************************************************************************/

   331

   332

/**

   333

 */

   334

   335

void ec_slave_request_state(ec_slave_t *slave, /**< ETherCAT slave */

   336

                            ec_slave_state_t state /**< new state */

   337

                            )

   338

{

   339

    slave->requested_state = state;

   340

    slave->error_flag = 0;

   341

}

   342

   343

/*****************************************************************************/

   344

   345

/**

   346

   Fetches data from a STRING category.

   347

   \return 0 in case of success, else < 0

   348

*/

   349

   350

int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */

   351

                           const uint8_t *data /**< category data */

   352

                           )

   353

{

   354

    unsigned int string_count, i;

   355

    size_t size;

   356

    off_t offset;

   357

    ec_sii_string_t *string;

   358

   359

    string_count = data[0];

   360

    offset = 1;

   361

    for (i = 0; i < string_count; i++) {

   362

        size = data[offset];

   363

        // allocate memory for string structure and data at a single blow

   364

        if (!(string = (ec_sii_string_t *)

   365

              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {

   366

            EC_ERR("Failed to allocate string memory.\n");

   367

            return -1;

   368

        }

   369

        string->size = size;

   370

        // string memory appended to string structure

   371

        string->data = (char *) string + sizeof(ec_sii_string_t);

   372

        memcpy(string->data, data + offset + 1, size);

   373

        string->data[size] = 0x00;

   374

        list_add_tail(&string->list, &slave->sii_strings);

   375

        offset += 1 + size;

   376

    }

   377

   378

    return 0;

   379

}

   380

   381

/*****************************************************************************/

   382

   383

/**

   384

   Fetches data from a GENERAL category.

   385

   \return 0 in case of success, else < 0

   386

*/

   387

   388

void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */

   389

                            const uint8_t *data /**< category data */

   390

                            )

   391

{

   392

    unsigned int i;

   393

   394

    ec_slave_locate_string(slave, data[0], &slave->sii_group);

   395

    ec_slave_locate_string(slave, data[1], &slave->sii_image);

   396

    ec_slave_locate_string(slave, data[2], &slave->sii_order);

   397

    ec_slave_locate_string(slave, data[3], &slave->sii_name);

   398

   399

    for (i = 0; i < 4; i++)

   400

        slave->sii_physical_layer[i] =

   401

            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   404

}

   405

   406

/*****************************************************************************/

   407

   408

/**

   409

   Fetches data from a SYNC MANAGER category.

   410

   \return 0 in case of success, else < 0

   411

*/

   412

   413

int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */

   414

                        const uint8_t *data, /**< category data */

   415

                        size_t word_count /**< number of words */

   416

                        )

   417

{

   418

    unsigned int sync_count, i;

   419

    ec_sii_sync_t *sync;

   420

   421

    sync_count = word_count / 4; // sync manager struct is 4 words long

   422

   423

    for (i = 0; i < sync_count; i++, data += 8) {

   424

        if (!(sync = (ec_sii_sync_t *)

   425

              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {

   426

            EC_ERR("Failed to allocate Sync-Manager memory.\n");

   427

            return -1;

   428

        }

   429

   430

        sync->index = i;

   431

        sync->physical_start_address = EC_READ_U16(data);

   432

        sync->length                 = EC_READ_U16(data + 2);

   433

        sync->control_register       = EC_READ_U8 (data + 4);

   434

        sync->enable                 = EC_READ_U8 (data + 6);

   435

   436

        sync->est_length = 0;

   437

   438

        list_add_tail(&sync->list, &slave->sii_syncs);

   439

    }

   440

   441

    return 0;

   442

}

   443

   444

/*****************************************************************************/

   445

   446

/**

   447

   Fetches data from a [RT]XPDO category.

   448

   \return 0 in case of success, else < 0

   449

*/

   450

   451

int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */

   452

                       const uint8_t *data, /**< category data */

   453

                       size_t word_count, /**< number of words */

   454

                       ec_sii_pdo_type_t pdo_type /**< PDO type */

   455

                       )

   456

{

   457

    ec_sii_pdo_t *pdo;

   458

    ec_sii_pdo_entry_t *entry;

   459

    unsigned int entry_count, i;

   460

   461

    while (word_count >= 4) {

   462

        if (!(pdo = (ec_sii_pdo_t *)

   463

              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {

   464

            EC_ERR("Failed to allocate PDO memory.\n");

   465

            return -1;

   466

        }

   467

   468

        INIT_LIST_HEAD(&pdo->entries);

   469

        pdo->type = pdo_type;

   470

   471

        pdo->index = EC_READ_U16(data);

   472

        entry_count = EC_READ_U8(data + 2);

   473

        pdo->sync_index = EC_READ_U8(data + 3);

   474

        pdo->name = NULL;

   475

        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);

   476

   477

        list_add_tail(&pdo->list, &slave->sii_pdos);

   478

   479

        word_count -= 4;

   480

        data += 8;

   481

   482

        for (i = 0; i < entry_count; i++) {

   483

            if (!(entry = (ec_sii_pdo_entry_t *)

   484

                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {

   485

                EC_ERR("Failed to allocate PDO entry memory.\n");

   486

                return -1;

   487

            }